Detailed Description

Overview

The pcl_surface library deals with reconstructing the original surfaces from 3D scans. Depending on the task at hand, this can be for example the hull, a mesh representation or a smoothed/resampled surface with normals.

Smoothing and resampling can be important if the cloud is noisy, or if it is composed of multiple scans that are not aligned perfectly. The complexity of the surface estimation can be adjusted, and normals can be estimated in the same step if needed.

Meshing is a general way to create a surface out of points, and currently there are two algorithms provided: a very fast triangulation of the original points, and a slower meshing that does smoothing and hole filling as well.

Creating a convex or concave hull is useful for example when there is a need for a simplified surface representation or when boundaries need to be extracted.

CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and produces a new output cloud that has been modified towards a better surface representation. More...